Study on Propulsion of a Snake Robot with Torque Propagation Based on Modified Curvature Derivatives

Yongdong Wang, Tetsushi Kamegawa, Akio Gofuku

研究成果

抄録

In this paper, the idea of using torque propagation for robot propulsion is modified and v a lidated. The curvature derivatives formula is modified by u sing a logarithmic correction function and adding a motor viscous friction losses compensation term to improve the mobility and stability of the robot. This experiment uses ODE (Open Dynamics Engine) as the physical engine to observe the locomotion of the robot in a simulation environment to verify the effectiveness of the algorithm. We conduct several sets of experiments and compare the proportional gain of the new algorithm. The results show that a larger proportionate gain can effectively improve the mobility of the robot, but the excess gain can lead to system oscillation and reduce the stability of the system.

本文言語English
ホスト出版物のタイトル2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ページ663-668
ページ数6
ISBN(電子版)9781665441001
DOI
出版ステータスPublished - 8月 8 2021
イベント18th IEEE International Conference on Mechatronics and Automation, ICMA 2021 - Takamatsu
継続期間: 8月 8 20218月 11 2021

出版物シリーズ

名前2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021

Conference

Conference18th IEEE International Conference on Mechatronics and Automation, ICMA 2021
国/地域Japan
CityTakamatsu
Period8/8/218/11/21

ASJC Scopus subject areas

  • 人工知能
  • 電子工学および電気工学
  • 機械工学
  • 制御と最適化

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